A power engineering construction simulation method and system

Abstract

The application discloses a kind of electric power engineering construction simulation method and system, it is related to electric power engineering technical field, method includes: to be hoisted component is carried out initial micro-inclination measurement, obtains micro-inclination mechanics data set;According to a plurality of the micro-inclination mechanics data set, the actual barycenter position of the hoisted component is calculated;To the actual barycenter position is carried out deviation source judgment, updates the actual barycenter position;The actual barycenter position is compared with theoretical barycenter position, determines barycentric deviation;According to the barycentric deviation, the attitude of the hoisted component is corrected.The application can be combined with actual barycenter position and theoretical barycenter position to correct component attitude, to realize electric power engineering construction simulation, improve accuracy and reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power engineering, and in particular to an electric power engineering construction simulation method and system. BACKGROUND

[0002] In modern large infrastructure construction, digital modeling and geographic information systems are usually combined for planning and construction. Engineering projects usually rely on detailed building information models to guide construction, which accurately record the geometric dimensions, material information, internal structure, and calculated physical center of gravity positions of components as basic data sources for guiding high-precision hoisting operations. However, in the actual execution process of the engineering project, when the internal structure (such as the layout of reinforcing bars) of a key component is changed by the supplier, there may be slight differences with the original building information model that affect the center of gravity position. The engineering technology team may not be able to learn about these slight differences in the internal structure in a timely manner. Due to the lack of up-to-date physical entity information, the simulation results obtained by existing methods usually show that the component attitude during hoisting will remain stable. However, when the crane hoists the actual component off the ground according to the preset sling hanging point and hoisting program in the simulation scheme, the component may tilt significantly due to the deviation between the actual center of gravity position and the center of gravity assumed in the simulation model, resulting in low simulation accuracy, safety hazards, and low reliability.

[0003] In summary, the technical problems in the related art need to be improved. SUMMARY

[0004] The main purpose of the embodiments of the present application is to provide an electric power engineering construction simulation method and system, which can correct the component attitude by combining the actual center of gravity position and the theoretical center of gravity position to realize electric power engineering construction simulation, thereby improving the accuracy and reliability.

[0005] In one aspect, the embodiments of the present application provide an electric power engineering construction simulation method, comprising the following steps:

[0006] Performing initial micro-tilt measurement on the to-be-hoisted component to obtain a set of micro-tilt mechanical data;

[0007] According to a plurality of sets of micro-tilt mechanical data, calculating the actual center of gravity position of the to-be-hoisted component;

[0008] Judging the source of deviation of the actual center of gravity position and updating the actual center of gravity position;

[0009] Comparing the actual center of gravity position with the theoretical center of gravity position to determine the center of gravity deviation;

[0010] According to the center of gravity deviation, correcting the attitude of the to-be-hoisted component.

[0011] In some embodiments, the initial micro-inclination measurement of the to-be-lifted component obtains a micro-inclination mechanical data set, including:

[0012] After the plurality of support points are laid out, first support force data of the to-be-lifted component is obtained;

[0013] After the to-be-lifted component is caused to produce a controlled micro-inclination by an external force, an inclination angle and second support force data of the to-be-lifted component are obtained;

[0014] The coordinates corresponding to the plurality of support points, the first support force data, the inclination angle, and the second support force data are combined to obtain the micro-inclination mechanical data set.

[0015] In some embodiments, the deviation source judgment of the actual center of gravity position and the updating of the actual center of gravity position include:

[0016] The support point pressure change and the surface temperature change of the to-be-lifted component are obtained;

[0017] A first multi-direction micro-inclination measurement is performed on the to-be-lifted component to obtain a first center of gravity position sequence;

[0018] A first deviation value between the center of gravity positions in the first center of gravity position sequence is calculated;

[0019] A second multi-direction micro-inclination measurement is performed on the to-be-lifted component to obtain a second center of gravity position sequence, and the inclination angle of the second multi-direction micro-inclination measurement is different from that of the first multi-direction micro-inclination measurement;

[0020] A second deviation value between the center of gravity positions in the second center of gravity position sequence is calculated;

[0021] According to the support point pressure change and the surface temperature change, the first deviation value and the second deviation value are compared to identify a center of gravity position deviation source;

[0022] According to the center of gravity position deviation source, the actual center of gravity position is updated.

[0023] In some embodiments, the attitude correction of the to-be-lifted component according to the center of gravity deviation includes:

[0024] Environmental data and attitude data of the to-be-lifted component are collected;

[0025] According to the environmental data and the attitude data, a current center of gravity position of the to-be-lifted component is calculated;

[0026] According to the center of gravity deviation, the current center of gravity position, and a preset lifting path, an attitude deviation is identified;

[0027] According to the attitude deviation, the sling and the crane hoist mechanism are cooperatively controlled to correct the attitude of the component to be hoisted.

[0028] In some embodiments, the cooperatively controlling the sling and the crane hoist mechanism according to the attitude deviation comprises:

[0029] obtaining tension data of the sling and speed data of the crane hoist mechanism;

[0030] According to the attitude deviation, the expected tension adjustment amount of the sling and the expected speed adjustment amount of the crane hoist mechanism are calculated;

[0031] According to the tension data, the speed data, preset inertia characteristic parameters, the expected tension adjustment amount and the expected speed adjustment amount, the influence of the adjustment actions of the sling and the crane hoist mechanism on the attitude of the component to be hoisted is evaluated to obtain a collision risk evaluation result;

[0032] According to the collision risk evaluation result, the tension change rate of the sling and the speed change rate of the crane hoist mechanism are adjusted.

[0033] In some embodiments, the cooperatively controlling the sling and the crane hoist mechanism according to the attitude deviation comprises:

[0034] According to the change rate of the attitude data and the change rate of the environment data, it is judged whether the component to be hoisted is in a high dynamic disturbance state;

[0035] If the component to be hoisted is in a high dynamic disturbance state, the next-time attitude of the component is predicted according to the attitude data, the environment data and the attitude deviation;

[0036] According to the next-time attitude of the component and a preset hoisting path, feedforward adjustment information is generated;

[0037] According to the feedforward adjustment information, preset inertia characteristic parameters and response characteristics of the actuator, the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoist mechanism are adjusted.

[0038] In some embodiments, the adjusting the tension change rate of the sling and the speed change rate of the crane hoist mechanism according to the collision risk evaluation result comprises:

[0039] Response state data of the actuator are obtained, the actuator comprising the sling and the crane hoist mechanism;

[0040] According to the response state data, it is judged whether the actuator has response delay or failure;

[0041] If the actuator has a response delay or a failure, a first adjustment amount is updated, the first adjustment amount including the expected tension adjustment amount and the expected speed adjustment amount;

[0042] According to the updated first adjustment amount, the tension change rate and the speed change rate are adjusted.

[0043] In some embodiments, the adjusting the tension change rate upper limit of the sling and the speed change rate upper limit of the crane hoist mechanism according to the feedforward adjustment information, a preset inertia characteristic parameter and an actuator response characteristic comprises:

[0044] Obtaining internal sensitive point load data of the component to be hoisted;

[0045] According to the attitude data and the internal sensitive point load data, a current inertia characteristic parameter of the component to be hoisted is calculated;

[0046] According to the current inertia characteristic parameter and the preset inertia characteristic parameter, an inertia characteristic deviation is identified;

[0047] According to the feedforward adjustment information, the actuator response characteristic, the inertia characteristic deviation and the environment data, the tension change rate upper limit and the speed change rate upper limit are adjusted.

[0048] In some embodiments, the adjusting the tension change rate upper limit of the sling and the speed change rate upper limit of the crane hoist mechanism according to the feedforward adjustment information, a preset inertia characteristic parameter and an actuator response characteristic comprises:

[0049] According to the preset inertia characteristic parameter, the environment data and the actuator response characteristic, a multi-dimensional mapping relationship is constructed;

[0050] According to the feedforward adjustment information and the multi-dimensional mapping relationship, a second adjustment amount is determined, the second adjustment amount including an adjustment amount of the tension change rate upper limit and an adjustment amount of the speed change rate upper limit;

[0051] According to the second adjustment amount, the tension change rate upper limit and the speed change rate upper limit are adjusted.

[0052] In another aspect, the embodiments of the present application provide a power engineering construction simulation system, comprising:

[0053] A micro-inclination measurement module is configured to perform initial micro-inclination measurement on the component to be hoisted to obtain a set of micro-inclination mechanical data;

[0054] A gravity center position calculation module is configured to calculate an actual gravity center position of the component to be hoisted according to a plurality of the set of micro-inclination mechanical data;

[0055] a deviation source judgment module, configured to judge a deviation source of the actual barycenter position, and update the actual barycenter position;

[0056] a barycenter deviation determination module, configured to compare the actual barycenter position with a theoretical barycenter position, and determine a barycenter deviation;

[0057] a posture correction module, configured to correct a posture of the to-be-lifted component according to the barycenter deviation.

[0058] The embodiment of the present application has at least the following beneficial effects: the embodiment of the present application firstly performs initial micro-inclination measurement on the to-be-lifted component to obtain a micro-inclination mechanical data set, then calculates an actual barycenter position of the to-be-lifted component according to a plurality of micro-inclination mechanical data sets, judges a deviation source of the actual barycenter position, updates the actual barycenter position, compares the actual barycenter position with a theoretical barycenter position, determines a barycenter deviation, and finally corrects a posture of the to-be-lifted component according to the barycenter deviation, so that the component posture can be corrected in combination with the actual barycenter position and the theoretical barycenter position to realize power engineering construction simulation, and the accuracy and reliability are improved.

[0059] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the description and claims. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0061] Figure 1 a flow chart of the power engineering construction simulation method according to an embodiment of the present application;

[0062] Figure 2 a structural schematic diagram of the power engineering construction simulation system according to an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purposes, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments.

[0064] In the related art, in modern large infrastructure construction, especially in the field of power transmission and transformation engineering, advanced digital modeling and geographic information system applications have become the core of planning and construction. However, in the actual project implementation process, subtle but critical differences may occur between the digital model and the physical entity, especially when the material changes in the supply chain link, which may lead to serious construction risks. A typical project process starts with the construction of a fine building information model for complex structural components such as power transmission towers. These models not only contain geometric dimensions and material information, but more importantly, they accurately record the internal structure, connection method, and physical center of gravity position calculated therefrom of the component.

[0065] However, in the actual project implementation process, the complexity and unpredictability of the supply chain often introduce unforeseen challenges. Imagine in a power engineering project, a key tower body material, such as a large cross arm component, is initially planned to be produced and delivered by supplier A. However, during the project advancement, due to unforeseen delays in the production schedule of supplier A, in order to ensure that the overall project schedule is not severely affected, the project procurement department may urgently start a backup supplier solution. In this case, supplier B is selected as a replacement to produce a "same-specification" cross arm component. Here, "same-specification" usually means that the component's external geometric dimensions, interface position with adjacent components, material strength level, and total weight, etc. key parameters meet the design requirements. However, due to different manufacturers having their own unique manufacturing processes, internal design optimization strategies, or intellectual property restrictions, the component produced by supplier B, although identical in external appearance to the product of supplier A, may have subtle but substantial differences in the arrangement of internal reinforcing ribs, welding point positions, or internal chamber structure.

[0066] Due to the fact that this material change occurs in the middle of the project implementation, and there may be a lag or lack of information granularity in the cross-department information transmission chain, the engineering technology team may not be aware of this subtle difference in internal structure in a timely manner. The information received by the engineering technology team may only be "same-specification replacement", without the detailed building information model or updated technical data of the component produced by supplier B. Therefore, the team responsible for hoisting simulation will continue to use the original building information model provided by supplier A for hoisting simulation analysis in the absence of the latest and most accurate physical entity information.

[0067] However, when the crane hoists the component provided by the B supplier off the ground according to the sling hanging point and the hoisting procedure preset in the simulation scheme, an unexpected physical phenomenon occurs: the component is obviously tilted immediately after leaving the ground. The root cause of this tilt is that the actual center of gravity of the physical component deviates from the center of gravity assumed by the simulation model (based on the component of the A supplier). According to the principle of physics, when the hanging point of the sling is not on the same vertical line as the actual center of gravity of the object, the object will generate a moment under the action of gravity, causing it to rotate around the center of gravity, thus exhibiting a tilt. The degree of tilt is closely related to the size of the center of gravity deviation and the position of the sling hanging point, and the simulation accuracy is low and the reliability is low.

[0068] Therefore, in the construction of power engineering, when the internal structure (such as the layout of the reinforcing rib) of the key component (such as the main material of the large tower body) in the supply chain link changes due to the change of the supplier, and there is a slight difference with the original building information model that affects the position of the center of gravity, it is necessary to quickly and non-invasively check the physical center of gravity position of the actual component on the construction site without relying on the supplier to actively provide an updated model, and match it with the simulation model data, so as to avoid abnormal lifting posture caused by inconsistency between the model and the entity.

[0069] Therefore, in the construction of power engineering, when the internal structure (such as the layout of the reinforcing rib) of the key component (such as the main material of the large tower body) in the supply chain link changes due to the change of the supplier, and there is a slight difference with the original building information model that affects the position of the center of gravity, it is necessary to quickly and non-invasively check the physical center of gravity position of the actual component on the construction site without relying on the supplier to actively provide an updated model, and match it with the simulation model data, so as to avoid abnormal lifting posture caused by inconsistency between the model and the entity.

[0070] The embodiments of the present application will be specifically explained below in combination with the drawings:

[0071] Figure 1 is an optional flowchart of a power engineering construction simulation method provided by an embodiment of the present application, Figure 1 The method in can include but is not limited to steps S101 to S105.

[0072] Step S101, performing initial micro-tilt measurement on the component to be hoisted to obtain a micro-tilt mechanical data set;

[0073] Step S102, calculating the actual center of gravity position of the component to be hoisted according to a plurality of micro-tilt mechanical data sets;

[0074] Step S103, judging the deviation source of the actual center of gravity position and updating the actual center of gravity position;

[0075] Step S104, compare the actual center of gravity position with the theoretical center of gravity position to determine the center of gravity deviation;

[0076] Step S105, correct the attitude of the component to be hoisted according to the center of gravity deviation.

[0077] The steps S101 to S105 shown in the embodiments of the present application can correct the component attitude in combination with the actual center of gravity position and the theoretical center of gravity position to realize power engineering construction simulation, thereby improving the accuracy and reliability.

[0078] In some embodiments, steps S101 to S105 can first measure the initial micro-tilt of the component to be hoisted to obtain a micro-tilt mechanical data set. For example, a plurality of support points can be arranged below the component to be hoisted, and a hydraulic jack or counterweight can be used to apply a controlled micro-tilt force at a specific position of the component, while an inclinometer and a pressure sensor are used to record the tilt angle of the component and the force data of each support point. These data are then combined into a micro-tilt mechanical data set for subsequent center of gravity calculation.

[0079] Then, the actual center of gravity position of the component to be hoisted is calculated according to the plurality of micro-tilt mechanical data sets, which can be based on the principle of mechanical equilibrium. For example, a moment balance equation set of the component in different micro-tilt states can be established, and the center of gravity coordinates of the component are determined by solving the equation set. The calculation process can be optimized by using a numerical iteration method or a least squares method to improve the calculation accuracy. The actual center of gravity position is subjected to deviation source judgment and the actual center of gravity position is updated, which can adopt a preliminary investigation means. For example, after the actual center of gravity position is calculated, the surface of the component can be manually checked for obvious deformation, additional objects or missing parts, and compared with the design drawings. If differences are found, the influence of these differences on the center of gravity position is judged according to experience, and the calculated actual center of gravity position is preliminarily corrected or marked.

[0080] The actual center of gravity position is compared with the theoretical center of gravity position to determine the center of gravity deviation, which can be directly calculated as the coordinate difference in three-dimensional space, or the Euclidean distance between the two. The deviation value can be represented in vector form, indicating the direction and size of the center of gravity deviation. The attitude of the component to be hoisted is corrected according to the center of gravity deviation, which can be manually adjusted according to the direction and size of the center of gravity deviation, or by adjusting the relative speed of the main and auxiliary hoist mechanisms of the crane, so as to offset part of the tilt trend caused by the center of gravity deviation at the initial stage of hoisting. This correction aims to ensure that the component can maintain a relatively stable attitude when leaving the ground, avoiding initial tilting.

[0081] By the technical solution, the embodiment can effectively solve the construction risk caused by information mismatch in the prior art by quickly and non-invasively checking and matching the key characteristics between the digital model and the physical entity before the key operation is performed. Compared with the traditional method of passive adjustment after the component is inclined, the embodiment can identify and quantify the gravity deviation in advance, so as to take active correction measures at the initial stage of hoisting, significantly reduce the collision risk in the hoisting process, avoid the delay of construction period and additional cost caused by abnormal attitude, and greatly improve the safety, accuracy and efficiency of the hoisting operation of the large component of the power engineering.

[0082] In some embodiments, the initial micro-inclination measurement of the component to be hoisted in step S101 to obtain the micro-inclination mechanical data set can include but is not limited to the following steps:

[0083] After arranging the plurality of support points, the first support force data of the component to be hoisted is obtained;

[0084] After the controlled micro-inclination of the component to be hoisted is generated by the external force, the inclination angle and the second support force data of the component to be hoisted are obtained;

[0085] The coordinates corresponding to the plurality of support points, the first support force data, the inclination angle and the second support force data are combined to obtain the micro-inclination mechanical data set.

[0086] In some embodiments, the first support force data of the component to be hoisted can be obtained after arranging the plurality of support points. Before the initial micro-inclination measurement, the component to be hoisted needs to be arranged with support points. The plurality of support points are used to bear the weight of the component to be hoisted and allow it to be slightly inclined. These support points are usually equipped with high-precision force sensors or pressure sensors, so as to accurately obtain the first support force data of the component to be hoisted in the static state. The first support force data reflects the distribution of the weight of the component to be hoisted on each support point in the initial balanced state.

[0087] Then, after the external force causes the to-be-lifted component to produce a controlled micro-tilt, the tilt angle and the second support force data of the to-be-lifted component are obtained. Illustratively, the to-be-lifted component can be caused to produce a controlled micro-tilt by applying an external force. The external force can be a mechanical thrust, a hydraulic jacking force, or achieved by adjusting the height of the support points, etc. The key is that the tilting process is controlled, that is, the amplitude and direction of the tilt can be accurately controlled and measured. During the micro-tilt of the component, the tilt angle and the second support force data of the component are synchronously obtained. The tilt angle can be obtained by a high-precision tilt sensor or a laser range finder, etc., and is used to represent the attitude change of the component relative to the initial position. The second support force data is the force borne by each support point in the tilted state of the component, which reflects the influence of the change of the center of gravity position of the component on the distribution of the support force.

[0088] The coordinates corresponding to the plurality of support points, the first support force data, the tilt angle, and the second support force data are combined to obtain a micro-tilt mechanical data set. It can be understood that the coordinates corresponding to the support points refer to the accurate positions of each support point in the preset coordinate system, which is crucial for subsequent mechanical calculation. By integrating these different types of data, a comprehensive micro-tilt mechanical data set can be formed. The data set contains the mechanical response and geometric attitude information of the component in different tilted states, and provides sufficient and necessary data basis for subsequent accurate calculation of the actual center of gravity position of the component.

[0089] Through the above technical solution, the embodiment can ensure that comprehensive and high-precision mechanical data are obtained in the initial micro-tilt measurement stage. This detailed data acquisition process lays a solid foundation for subsequent accurate calculation of the actual center of gravity position of the to-be-lifted component, significantly improves the accuracy and reliability of the center of gravity position calculation. Thus, the error accumulation of subsequent center of gravity deviation judgment and attitude correction caused by inaccurate initial data can be effectively avoided, thereby providing more accurate and safe center of gravity positioning basis for the lifting of large components in power engineering construction.

[0090] In some embodiments, in step S103, the deviation source judgment on the actual center of gravity position and the updating of the actual center of gravity position can include but are not limited to the following steps:

[0091] Obtaining the support point pressure change and the surface temperature change of the to-be-lifted component;

[0092] Performing a first multi-directional micro-tilt measurement on the to-be-lifted component to obtain a first center of gravity position sequence;

[0093] Calculating a first deviation value between the center of gravity positions in the first center of gravity position sequence;

[0094] The second multi-directional micro-tilt measurement is performed on the hoisting component to obtain a second sequence of center-of-gravity positions, and the tilt angle of the second multi-directional micro-tilt measurement is different from that of the first multi-directional micro-tilt measurement.

[0095] A second deviation value between the center-of-gravity positions in the second sequence of center-of-gravity positions is calculated.

[0096] According to the support point pressure change and the surface temperature change, the first deviation value and the second deviation value are compared to identify the source of the deviation of the center-of-gravity position.

[0097] According to the source of the deviation of the center-of-gravity position, the actual center-of-gravity position is updated.

[0098] In some embodiments, the center-of-gravity position of the hoisting component may be affected by various complex factors, such as structural deformation, changes in material properties, or fluctuations in environmental temperature, etc. These factors may cause deviations in the measured results of the center-of-gravity position. If the specific source of these deviations cannot be accurately identified, it may affect the accurate updating of the subsequent center-of-gravity position, and further affect the accuracy of the attitude correction. Therefore, the support point pressure change and the surface temperature change of the hoisting component can be obtained first. For example, pressure sensors can be installed below or inside the support points of the hoisting component, and temperature sensors can be arranged on the surface of the component to monitor and record the changes of these physical quantities in real time. These data are important basis for judging the source of the deviation of the center-of-gravity position, because the pressure change may reflect the changes in the stress distribution or support conditions inside the component, and the temperature change may cause the component to expand or contract due to heat, thereby causing a small deviation in the center-of-gravity position.

[0099] Then, the first multi-directional micro-tilt measurement is performed on the hoisting component to obtain a first sequence of center-of-gravity positions, and the second multi-directional micro-tilt measurement is performed on the hoisting component to obtain a second sequence of center-of-gravity positions, wherein the tilt angle of the second multi-directional micro-tilt measurement is different from that of the first multi-directional micro-tilt measurement. Multi-directional micro-tilt measurement refers to making the hoisting component produce a small tilt in a controlled manner in multiple preset directions, and obtaining corresponding mechanical data, such as support force data and tilt angle data, after each tilt. Through these data, the center-of-gravity position under different tilt states can be calculated to form a sequence of center-of-gravity positions. Two or more multi-directional micro-tilt measurements are performed at different tilt angles, which aims to compare the differences between the sequences of center-of-gravity positions at different tilt angles, more comprehensively capture the response of the component under different force conditions, and help reveal potential nonlinear or angle-dependent deviations.

[0100] The first deviation values between the center of gravity positions in the first sequence of center of gravity positions are recalculated, and the second deviation values between the center of gravity positions in the second sequence of center of gravity positions are calculated. Exemplarily, each of the center of gravity position points in each of the sequences of center of gravity positions is compared to quantify the degree of dispersion or variation trend between them. These deviation values reflect the stability and consistency of the center of gravity position measurements under specific measurement conditions. By comparing the first deviation values and the second deviation values according to the changes in the support point pressure and the surface temperature, the source of the center of gravity position deviation is identified. By correlating and analyzing the measured center of gravity position deviation with the synchronously acquired pressure and temperature change data, the specific reason for the center of gravity position deviation can be diagnosed. For example, if it is found that the deviation of the center of gravity position is significantly correlated with the temperature change, it may indicate that thermal deformation is the main source of deviation; if it is correlated with the change in the support point pressure, it may indicate structural stress redistribution or abnormal support conditions. The actual center of gravity position is updated according to the source of the center of gravity position deviation. After determining the specific reason for the deviation, a corresponding compensation model or correction algorithm can be used to accurately adjust the preliminary calculated actual center of gravity position to eliminate or reduce the error caused by the specific deviation source.

[0101] To more clearly illustrate the technical solutions, specific examples are used in the following explanation. Suppose a large transformer needs to accurately measure its center of gravity position before hoisting. First, pressure sensors are installed at multiple support points below the transformer, and temperature sensors are arranged on the surface of the transformer to continuously monitor the changes in pressure and temperature. Then, through hydraulic jacks or other equipment, the transformer is subjected to small-angle (e.g., 0.1 degrees, 0.2 degrees) micro-tilt measurements in the X-axis and Y-axis directions, respectively. The support force data is recorded after each tilt, and the first sequence of center of gravity positions is calculated. Subsequently, the tilt angle is changed (e.g., 0.3 degrees, 0.4 degrees), and micro-tilt measurements in the X-axis and Y-axis directions are performed again to obtain the second sequence of center of gravity positions. After obtaining these data, the system calculates the first deviation values between the points in the first sequence of center of gravity positions and the second deviation values between the points in the second sequence of center of gravity positions. At the same time, the system analyzes the changes in the support point pressure and the surface temperature recorded during the measurement process. For example, if it is found that when the surface temperature rises, the deviation values of the two sequences of center of gravity positions both exhibit a systematic deviation in a certain direction, it can be determined that thermal expansion is the main source of center of gravity position deviation. Based on this determination, the system will use a pre-set thermal expansion model to correct the calculated actual center of gravity position, thereby obtaining a more accurate center of gravity position.

[0102] By the technical solution, the embodiment can significantly improve the accuracy and robustness of the calculation of the actual center of gravity position of the to-be-lifted component. By identifying and quantifying the specific source of the center of gravity position deviation, targeted compensation and correction can be performed, avoiding inaccurate calculation of the center of gravity position due to unknown or unconsidered factors, thereby providing more accurate input for subsequent attitude correction, effectively reducing the risk caused by center of gravity deviation in power engineering construction, and ensuring the safety and efficiency of the lifting operation.

[0103] In some embodiments, in step S105, the attitude of the to-be-lifted component is corrected according to the center of gravity deviation, which can include but is not limited to the following steps:

[0104] Step S201, collecting environmental data and attitude data of the to-be-lifted component;

[0105] Step S202, calculating the current center of gravity position of the to-be-lifted component according to the environmental data and the attitude data;

[0106] Step S203, identifying the attitude deviation according to the center of gravity deviation, the current center of gravity position, and the preset lifting path;

[0107] Step S204, cooperatively controlling the sling and the crane hoist mechanism according to the attitude deviation to correct the attitude of the to-be-lifted component.

[0108] In some embodiments, due to dynamic disturbances of external environment (such as wind force, temperature change) and dynamic response of the to-be-lifted component itself during lifting, its center of gravity position and attitude can change in real time. If these dynamic factors are not considered, and correction is only made based on the initial center of gravity deviation, it may lead to inaccurate and untimely correction, and even cause safety risks such as component swinging, collision, or deviation from the preset path. Therefore, environmental data and attitude data of the to-be-lifted component can be collected first, wherein the environmental data can include wind speed, wind direction, temperature, humidity, etc. of the construction site, which are crucial for evaluating the stress condition and attitude stability of the to-be-lifted component during lifting. The attitude data of the to-be-lifted component can include its position in three-dimensional space, attitude angle (such as pitch angle, roll angle, yaw angle), and attitude change rate, etc., which can be obtained in real time by sensors such as inertial measurement unit, global positioning system, or visual measurement system installed on the component.

[0109] Then, according to the environmental data and the attitude data, the current center of gravity position of the component to be hoisted is calculated. During hoisting, due to the slight movement of the internal load of the component, the deformation caused by temperature changes or the action of external environmental forces, the center of gravity position of the component may change dynamically. Through the real-time acquisition of environmental data and attitude data, combined with the preset physical model and mechanical model of the component, the actual center of gravity position of the component at the current time can be dynamically calculated, reflecting the real center of gravity state of the component in the dynamic hoisting process.

[0110] According to the center of gravity deviation, the current center of gravity position and the preset hoisting path, the attitude deviation is identified. Exemplarily, the initial determined center of gravity deviation (i.e. the difference between the actual center of gravity position and the theoretical center of gravity position), the real-time calculated current center of gravity position and the pre-planned hoisting path are comprehensively analyzed. The preset hoisting path defines the ideal trajectory and attitude sequence that the component should follow during hoisting. By comparing the current attitude of the component (indirectly reflected by the current center of gravity position) with the ideal attitude on the preset path, and combining the influence of the initial center of gravity deviation, the attitude deviation currently existing in the component can be accurately identified, such as deviating from the predetermined trajectory, occurring unexpected rotation or inclination, etc.

[0111] Finally, according to the attitude deviation, the sling and the crane hoisting mechanism are cooperatively controlled to correct the attitude of the component to be hoisted. After the attitude deviation is identified, the tension of the sling connected to the component to be hoisted and the hoisting speed of the crane hoisting mechanism can be intelligently adjusted according to the size and direction of the deviation. Cooperative control means that these adjustments are not carried out independently, but through a unified control algorithm, considering factors such as the number of slings, distribution, type of crane, hoisting load, etc., to realize multi-point, multi-degree-of-freedom coordinated action, so as to accurately and smoothly guide the component to be hoisted back to the preset ideal attitude and path. This can include adjusting the length and tension of different slings, or adjusting the hoisting speed of different cranes, to produce the required torque and displacement to correct the attitude.

[0112] To make the technical solution clearer, specific examples are used for explanation below. Assume that during the hoisting of a blade of a large wind turbine, the blade length exceeds 80 meters, and the wind at the construction site is relatively strong. In the initial hoisting stage, the deviation of the center of gravity of the blade has been determined through initial micro-inclination measurement. However, during the hoisting process, the wind speed and direction change, and the flexibility of the blade itself causes slight fluctuations in its posture. First, the sensors installed on the blade collect real-time environmental data such as wind speed and direction, as well as attitude data such as the pitch angle and roll angle of the blade. These data are transmitted to the control system for dynamic calculation of the actual center of gravity position of the blade at the current moment. Subsequently, the control system comprehensively analyzes the initially determined center of gravity deviation, the real-time calculated current center of gravity position, and the preset blade hoisting path, accurately identifies the existing posture deviation of the blade, such as the lateral deviation of the blade tip relative to the predetermined trajectory or the unexpected twist.

[0113] Once the posture deviation is identified, the control system generates coordinated control instructions according to the size and direction of the deviation. For example, if the blade tip deviates to the left, the system may instruct the winch mechanism of the left sling to slightly tighten, while the winch mechanism of the right sling to slightly loosen, or adjust the winch speed of different cranes to generate a rightward correction torque. These adjustment actions are coordinated to ensure that the blade remains stable during correction and avoids violent shaking. Through real-time monitoring, accurate identification, and coordinated control, the blade can be smoothly and safely guided to the predetermined installation position, effectively completing the hoisting task even under complex and variable environmental conditions.

[0114] Through the above technical solution, the embodiment can realize real-time and accurate correction of the posture of the to-be-hoisted component in power engineering construction, effectively cope with the posture deviation caused by environmental disturbances such as wind and temperature changes during hoisting, as well as changes in the dynamic characteristics of the component itself, and significantly improve the accuracy and response speed of posture correction. As a result, the risk of collision, overturning, or damage to the component during hoisting can be greatly reduced, ensuring construction safety and improving the efficiency and success rate of hoisting operations.

[0115] In some embodiments, in step S204, the coordinated control of the slings and the winch mechanisms of the cranes according to the posture deviation can include but is not limited to the following steps:

[0116] Step S301, acquiring tension data of the slings and speed data of the winch mechanisms of the cranes;

[0117] Step S302, calculating the desired tension adjustment amount of the slings and the desired speed adjustment amount of the winch mechanisms of the cranes according to the posture deviation;

[0118] In step S303, an influence of the adjustment action of the sling and the crane hoist mechanism on the attitude of the component to be hoisted is evaluated according to the tension data, the speed data, preset inertia characteristic parameters, the expected tension adjustment amount and the expected speed adjustment amount, to obtain a collision risk evaluation result.

[0119] In step S304, a tension change rate of the sling and a speed change rate of the crane hoist mechanism are adjusted according to the collision risk evaluation result.

[0120] In some embodiments, due to the simple cooperative control only according to the attitude deviation, the dynamic characteristics of the component in the adjustment process, the environmental constraints and the potential collision risk may not be fully considered, thereby possibly causing the component to collide with the surrounding environment, or causing system instability due to too fast or too violent adjustment, and even causing a safety accident. Therefore, the tension data of the sling and the speed data of the crane hoist mechanism can be obtained first. The tension data of the sling can be collected in real time by a force sensor installed on the sling, and is used to reflect the size of the pulling force currently borne by the sling. The speed data of the crane hoist mechanism can be obtained by an encoder or a speed sensor of the hoist mechanism, and is used to reflect the winding and unwinding speed of the hoist mechanism. These data are the basis for evaluating the dynamic behavior of the component and the response of the control system.

[0121] Then, according to the attitude deviation, the expected tension adjustment amount of the sling and the expected speed adjustment amount of the crane hoist mechanism are calculated. Exemplarily, these adjustment amounts can be calculated by a preset control algorithm (such as proportional-integral-derivative (PID) control, fuzzy control or model predictive control, etc.) based on the size and direction of the attitude deviation, aiming to adjust the attitude of the component to the target state. The expected tension adjustment amount indicates the tension that needs to be increased or decreased by the sling, and the expected speed adjustment amount indicates the winding and unwinding speed that needs to be adjusted by the hoist mechanism.

[0122] Then, according to the tension data, the speed data, preset inertia characteristic parameters, the expected tension adjustment amount and the expected speed adjustment amount, the influence of the adjustment action of the sling and the crane hoist mechanism on the attitude of the component to be hoisted is evaluated, to obtain a collision risk evaluation result. It can be understood that the preset inertia characteristic parameters can include the mass and the moment of inertia of the component, which are crucial for predicting the dynamic response of the component after being subjected to force. In the evaluation process, a dynamic model can be constructed to simulate the motion trajectory, the swing amplitude, the minimum distance from the surrounding environment (such as buildings, other equipment, the ground, etc.) of the component under the action of the expected adjustment amount, thereby obtaining the collision risk evaluation result. The result can be a risk level, a safety margin value or a Boolean judgment (existence / nonexistence of collision risk).

[0123] Finally, according to the collision risk assessment result, the tension change rate of the sling and the speed change rate of the crane hoisting mechanism are adjusted. For example, if the collision risk assessment result shows that there is a high collision risk, the tension change rate and the speed change rate can be reduced, so that the adjustment process of the component is more gentle, and overshoot or violent swing is avoided; on the contrary, if the risk is low and rapid adjustment is required, the change rate can be appropriately increased. This dynamic adjustment mechanism ensures the safety and stability of the attitude correction process.

[0124] In order to more clearly illustrate the technical scheme, specific examples are used for explanation below. It is assumed that a large transformer needs to be hoisted to a predetermined position at a certain power engineering construction site. During hoisting, the attitude sensor detects that the transformer has a certain attitude deviation, which needs to be corrected. First, the system will obtain the current tension data of the sling and the speed data of the crane hoisting mechanism in real time. For example, the tension of the first sling is 50kN, the tension of the second sling is 48kN, and the speed of the crane hoisting mechanism is 0.1m / s. Then, according to the detected attitude deviation (for example, the transformer has a 2-degree deflection around the Z-axis), the control system calculates the expected tension adjustment amount and speed adjustment amount. For example, it is expected that the first sling tension increases by 5kN, the second sling tension decreases by 3kN, and the speed of the crane hoisting mechanism is adjusted to 0.08m / s. Subsequently, the system uses these data and the preset inertia characteristic parameters (such as mass, moment of inertia) of the transformer to construct a dynamic model, which simulates the motion trajectory of the transformer in the next few seconds under the action of these expected adjustment amounts. At the same time, combined with the three-dimensional environment model of the construction site (including surrounding buildings, other equipment, ground, etc.), the minimum distance between the transformer and these obstacles during the simulated motion is evaluated. If the simulation result shows that the transformer may collide with the nearby support structure during the adjustment process, the collision risk assessment result will indicate that there is a high risk.

[0125] Based on this high risk assessment result, the system will immediately adjust the tension change rate of the sling and the speed change rate of the crane hoisting mechanism. For example, the originally planned tension change rate is reduced from 2kN / s to 0.5kN / s, and the speed change rate is reduced from 0.02m / s² to 0.005m / s². By reducing the adjustment rate, the attitude correction process of the transformer is more slow and controllable, so as to avoid collision with the obstacles and ensure the safe performance of the hoisting operation.

[0126] By the technical solution, the embodiment can significantly improve the safety and accuracy of the large component hoisting posture correction in the power engineering construction. Compared with the scheme of only controlling based on the posture deviation, the embodiment introduces a collision risk assessment link, so that the control system can predict and avoid potential collision risks, effectively preventing accidents caused by excessive component swing or improper adjustment. In addition, according to the risk assessment result, the hoisting rope tension change rate and the crane hoist mechanism speed change rate are dynamically adjusted, so that the posture correction process is more stable and controllable, and overshoot and oscillation are avoided, thereby improving the overall efficiency and reliability of the hoisting operation, and reducing the construction risk and cost.

[0127] In some embodiments, in step S204, the coordinated control of the hoisting rope and the crane hoist mechanism according to the posture deviation can include but is not limited to the following steps:

[0128] Step S401, judging whether the to-be-hoisted component is in a high dynamic disturbance state according to the change rate of the posture data and the change rate of the environment data;

[0129] Step S402, if the to-be-hoisted component is in a high dynamic disturbance state, predicting the next time posture of the component according to the posture data, the environment data and the posture deviation;

[0130] Step S403, generating feedforward adjustment information according to the next time posture of the component and the preset hoisting path;

[0131] Step S404, adjusting the upper limit of the tension change rate of the hoisting rope and the upper limit of the speed change rate of the crane hoist mechanism according to the feedforward adjustment information, the preset inertia characteristic parameter and the response characteristic of the actuator.

[0132] In some embodiments, due to the high dynamic disturbance such as wind force, foundation settlement or equipment vibration that the to-be-hoisted component may face, the posture data and the environment data of the to-be-hoisted component change rapidly. In this case, it may be difficult to achieve fast and accurate posture correction by relying only on feedback control, and even safety risks may be caused by response lag. Therefore, it can be judged whether the to-be-hoisted component is in a high dynamic disturbance state according to the change rate of the posture data and the change rate of the environment data. The change rate of the posture data can include the pitch angle, roll angle, yaw angle and their respective change speeds of the to-be-hoisted component, as well as the position coordinates and their change speeds. The change rate of the environment data can include the real-time change trend of environmental parameters such as wind speed, wind direction, temperature and humidity. When these change rates exceed the preset threshold, for example, the wind speed increases sharply in a short time, or the component attitude angular velocity exceeds the safe range, it can be judged that the to-be-hoisted component is in a high dynamic disturbance state. This judgment aims to identify special working conditions that require more active control strategy.

[0133] Then, if the to-be-lifted component is in a high dynamic disturbance state, a next-time attitude of the component is predicted according to the attitude data, the environment data, and the attitude deviation. Exemplarily, a state estimation algorithm such as Kalman filtering, extended Kalman filtering, particle filtering, etc. can be used in combination with a dynamic model of the component and an environment disturbance model to predict the attitude of the component at a future time point (for example, the next control period). The purpose of prediction is to predict the motion trend of the component in advance, thereby providing a basis for feedforward control.

[0134] According to the next-time attitude of the component and the preset lifting path, feedforward adjustment information is generated. The feedforward adjustment information refers to adjustment instructions for the sling and the crane hoist mechanism that are calculated in advance according to the predicted attitude of the component and the expected lifting path before or at the initial stage of the disturbance. For example, if it is predicted that the component will deviate from the preset path at the next time, the feedforward adjustment information will indicate how the sling should adjust the tension in advance or how the crane hoist mechanism should adjust the speed in advance to offset such deviation. The purpose is to take measures before the influence of the disturbance appears, thereby improving the timeliness and accuracy of control.

[0135] Finally, the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoist mechanism are adjusted according to the feedforward adjustment information, preset inertia characteristic parameters, and execution mechanism response characteristics. The preset inertia characteristic parameters refer to physical parameters such as mass and moment of inertia of the to-be-lifted component determined at the design or manufacturing stage. The execution mechanism response characteristics refer to performance parameters such as response speed and maximum output force / speed of the sling system (including steel wire rope, pulley set, etc.) and the crane hoist mechanism (including motor, reducer, etc.) to control instructions. By adjusting the upper limits of the tension change rate and the speed change rate, system oscillation, component structure damage, or lifting accidents caused by excessive adjustment or too fast adjustment can be avoided while ensuring the control effect. For example, when a severe disturbance is predicted, the upper limits can be appropriately relaxed to allow a faster response; and when the disturbance is small or close to the target attitude, the upper limits can be tightened to improve the stability of control.

[0136] In order to more clearly illustrate the technical solution, a specific example is used for explanation below. It is assumed that during the lifting of a large wind turbine blade, a gust of wind is suddenly encountered. First, the system continuously collects attitude data (such as inclination angle and angular velocity) of the blade and environment data (such as wind speed and wind direction). When the wind speed change rate or the blade attitude angular velocity change rate exceeds a preset threshold, the system determines that the blade is in a high dynamic disturbance state. Then, based on the current attitude data, the environment data, and the attitude deviation of the blade from the theoretical lifting path, the system uses a pre-established dynamic model of the blade and a wind load model to predict the attitude of the blade after 0.5 seconds in the future. For example, it is predicted that the blade will deviate by 3 degrees in a certain direction after 0.5 seconds due to the influence of the gust of wind.

[0137] Then, according to the predicted next-time attitude of the blade and the preset hoisting path, the system calculates the feedforward adjustment information required to be applied to the sling and the crane hoisting mechanism. For example, it is calculated that the tension of a certain sling needs to be increased in advance, and the speed of the crane hoisting mechanism is fine-tuned to offset the predicted deflection. Finally, the system dynamically adjusts the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism in combination with the preset inertia characteristic parameters of the blade and the response characteristics of the hoisting equipment (such as sling tension response time, maximum acceleration of the hoisting mechanism). For example, at the initial stage of the gust, the rate limit is appropriately relaxed to allow the sling tension to respond faster; and when the blade attitude tends to be stable, the rate limit is tightened to ensure smooth transition. In this way, even under the influence of gust, the blade can be quickly and smoothly guided back to the preset path, avoiding the risk of violent swinging or collision with surrounding structures.

[0138] Through the above technical solutions, the embodiment can significantly improve the attitude control accuracy and response speed of large-scale hoisted components in complex dynamic environments in power engineering construction. Especially in the face of sudden or high-frequency external disturbances, the embodiment can achieve more timely and accurate correction of the component attitude through the feedforward control mechanism, effectively reducing the collision risk and construction safety hazards caused by attitude instability. At the same time, through the dynamic management of the upper limit of the adjustment rate of the actuator, the stability of the control process and the structural safety of the component are further guaranteed, thereby improving the efficiency and reliability of the overall hoisting operation.

[0139] In some embodiments, in step S304, adjusting the tension change rate of the sling and the speed change rate of the crane hoisting mechanism according to the collision risk assessment result can include but is not limited to the following steps:

[0140] Obtaining response state data of the actuator, the actuator including the sling and the crane hoisting mechanism;

[0141] According to the response state data, determining whether the actuator has response delay or failure;

[0142] If the actuator has response delay or failure, updating the first adjustment amount, the first adjustment amount including the expected tension adjustment amount and the expected speed adjustment amount;

[0143] Adjusting the tension change rate and the speed change rate according to the updated first adjustment amount.

[0144] In some embodiments, if only the preset parameters and the expected adjustment amount are used for rate adjustment, the expected attitude correction effect may not be achieved, or even new instability factors or safety hazards may be introduced, due to the response delay or failure of the execution mechanism (such as the sling and the crane hoist mechanism) itself. Therefore, the response state data of the execution mechanism can be obtained first, wherein the execution mechanism includes the sling and the crane hoist mechanism, and the response state data of the execution mechanism refers to data that can reflect the actual working state and performance of the sling and the crane hoist mechanism, for example, can include actual tension feedback of the sling, actual speed, position or current data of the crane hoist mechanism, motor temperature, deviation between controller output and actual execution, etc. These data can be obtained in real time through devices such as tension sensors installed on the sling, encoders, speed sensors, current sensors or temperature sensors on the crane hoist mechanism, etc. The purpose is to provide a basis for subsequent judgment of the health status and response ability of the execution mechanism.

[0145] Then, according to the response state data, it is judged whether the execution mechanism has a response delay or failure. Exemplarily, the real-time obtained response state data can be compared with the preset normal working range, response time threshold or historical performance baseline. For example, if there is a significant lag between the actual response speed and the instruction speed, or there is a persistent deviation between the actual tension and the expected tension, it can be judged that there is a response delay; if the sensor data is abnormal, the controller has an error or the execution mechanism has no response at all, it can be judged that there is a failure.

[0146] If the execution mechanism has a response delay or failure, the first adjustment amount is updated, wherein the first adjustment amount includes the expected tension adjustment amount and the expected speed adjustment amount. The original calculated expected tension adjustment amount and expected speed adjustment amount can be corrected according to the detected delay or failure type and degree. For example, the adjustment amount can be prospectively compensated according to the delay time, or when a failure is detected, the adjustment amount is limited to a more conservative range, or even an emergency stop or deceleration operation is triggered. The purpose is to ensure that in the case of damaged execution mechanism performance, the attitude correction can still be carried out in a safe and controllable manner, avoiding the loss of control of the component attitude or collision due to the non-ideal behavior of the execution mechanism. Finally, the tension change rate and the speed change rate are adjusted according to the updated first adjustment amount.

[0147] Through the above technical solutions, the present embodiment can effectively deal with the response delay or failure problem of the execution mechanism that may occur in power engineering construction, and significantly improve the robustness and safety of the attitude correction process. By introducing a real-time monitoring and feedback mechanism of the execution mechanism state, the present embodiment ensures that the attitude correction of the to-be-lifted component can be more accurate and stable under complex and variable working conditions, thereby reducing the construction risk and improving the reliability of the overall lifting operation.

[0148] In some embodiments, in step S404, adjusting the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism according to the feedforward adjustment information, the preset inertia characteristic parameter and the actuator response characteristic can include but is not limited to the following steps:

[0149] Obtaining internal sensitive point load data of the component to be hoisted;

[0150] Calculating the current inertia characteristic parameter of the component to be hoisted according to the attitude data and the internal sensitive point load data;

[0151] Identifying the inertia characteristic deviation according to the current inertia characteristic parameter and the preset inertia characteristic parameter;

[0152] Adjusting the upper limit of the tension change rate and the upper limit of the speed change rate according to the feedforward adjustment information, the actuator response characteristic, the inertia characteristic deviation and the environmental data.

[0153] In some embodiments, since only the preset inertia characteristic parameter is relied on for adjustment, it may not fully adapt to the real-time dynamic changes of the component, thereby affecting the accuracy and robustness of the attitude correction, especially when the component is in a high dynamic disturbance state, such mismatch can lead to poor control effect. Therefore, the internal sensitive point load data of the component to be hoisted can be obtained first, wherein the internal sensitive point load data refers to the data about the internal stress, vibration, deformation or local load distribution of the component obtained by arranging sensors (such as strain gauges, accelerometers, pressure sensors, etc.) at key positions inside or on the surface of the component to be hoisted. These data can reflect the actual stress state and internal mass distribution changes of the component during hoisting.

[0154] Then, the current inertia characteristic parameter of the component to be hoisted is calculated according to the attitude data and the internal sensitive point load data, wherein the current inertia characteristic parameter refers to the actual mass, center of gravity position and moment of inertia of the component to be hoisted at the current time. The calculation of these parameters is based on the real-time attitude data and internal sensitive point load data, aiming to accurately reflect the real physical characteristics of the component during dynamic hoisting. For example, the dynamics model of the component can be established, and the state estimation or parameter identification can be performed in combination with the sensor data, so as to update these inertia characteristic parameters in real time.

[0155] Then, the inertia characteristic deviation is identified according to the current inertia characteristic parameter and the preset inertia characteristic parameter, wherein the inertia characteristic deviation refers to the difference between the current calculated inertia characteristic parameter and the preset theoretical inertia characteristic parameter. The identification of this deviation can be performed by direct comparison, calculation of relative error or use of statistical methods. The purpose is to quantify the inconsistency between the actual situation and the theoretical model, and to provide a basis for subsequent accurate adjustment.

[0156] Finally, according to the feedforward adjustment information, the actuator response characteristics, the inertia characteristic deviation and the environmental data, the tension change rate upper limit and the speed change rate upper limit are adjusted, so that the real-time dynamic characteristics of the component can be adaptively corrected, and the accuracy and effectiveness of the adjustment action are ensured.

[0157] To more clearly illustrate the technical solutions, specific examples are used below for explanation. Assume that in the power engineering construction, a large and non-uniform transformer body needs to be hoisted. During manufacturing or transportation, the oil tank, coil and other components inside the transformer body may have a slight relative displacement, resulting in a slight deviation of the actual center of gravity position and the moment of inertia from the design theoretical value. During hoisting, especially when encountering gusts or slight crane swaying and other high dynamic disturbances, this deviation will further affect the attitude stability of the transformer. To solve this problem, micro strain sensors and three-axis accelerometers can be pre-installed at key internal structure points (such as the bottom of the oil tank, the coil support frame, etc.) of the transformer body, for real-time acquisition of internal sensitive point load data. During hoisting, these sensors continuously collect data, and combine with the attitude data provided by the external attitude sensor (such as IMU). The system uses these real-time data to dynamically calculate the current actual center of gravity position and the moment of inertia of the transformer body, i.e. the current inertia characteristic parameters, through a pre-set dynamic model and Kalman filtering algorithm.

[0158] Subsequently, the current inertia characteristic parameters calculated in real time are compared with the theoretical design inertia characteristic parameters of the transformer body, so as to identify the inertia characteristic deviation therebetween. For example, if it is found that the actual center of gravity deviates to one side by 5 millimeters, or the moment of inertia in a certain direction increases by 2%. Based on these identified deviations, and the predicted feedforward adjustment information obtained from the above scheme, the actuator response characteristics of the crane and the sling, and the current environmental data (such as wind speed and direction), the control system will accurately adjust the tension change rate upper limit of the sling and the speed change rate upper limit of the crane hoist mechanism. For example, to correct the center of gravity deviation, the system may slightly increase the tension change rate upper limit of the sling on the opposite side of the deviation direction, and adjust the hoist speed accordingly, to more smoothly and accurately guide the transformer body back to the pre-set hoisting path, effectively avoiding the attitude oscillation or collision risk caused by inaccurate inertia parameters, thereby ensuring the safety and efficiency of the entire hoisting process.

[0159] By the technical solution, the embodiment can significantly improve the precision and adaptability of the posture correction of the large hoisting component in the power engineering construction. Especially when the component is in a high dynamic disturbance state or its internal characteristics change, the traditional control method based on preset parameters may not provide the optimal correction effect. The embodiment can identify and quantify the deviation between the actual inertia characteristics and the theoretical value in time by acquiring the internal sensitive point load data in real time and dynamically calculating the current inertia characteristic parameters of the component. Therefore, when the posture is corrected, the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism can be adjusted more accurately and adaptively according to the inertia characteristic deviation identified in real time. This not only effectively avoids the problems of inaccurate posture control, oscillation or overshoot caused by mismatched inertia parameters, but also significantly enhances the robustness and safety of the system in complex and variable environments, ensuring the stability and efficiency of the hoisting process of the large component.

[0160] In some embodiments, in step S404, adjusting the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism according to the feedforward adjustment information, the preset inertia characteristic parameters and the actuator response characteristics can include but is not limited to the following steps:

[0161] According to the preset inertia characteristic parameters, the environmental data and the actuator response characteristics, a multi-dimensional mapping relationship is constructed;

[0162] According to the feedforward adjustment information and the multi-dimensional mapping relationship, a second adjustment amount is determined, and the second adjustment amount includes an adjustment amount of the upper limit of the tension change rate and an adjustment amount of the upper limit of the speed change rate;

[0163] According to the second adjustment amount, the upper limit of the tension change rate and the upper limit of the speed change rate are adjusted.

[0164] In some embodiments, due to the complex and changeable environment where the component to be hoisted is located, and the complex nonlinear coupling relationship between the inertia characteristics of the component itself and the response characteristics of the actuator. If only relying on preset or simple calculation model for adjustment, it may not be able to fully capture the dynamic influence of these complex factors, resulting in insufficient adjustment accuracy or poor robustness, especially in high dynamic disturbance state, it may not be able to realize accurate, fast and safe correction of the component attitude. First, a multi-dimensional mapping relationship can be constructed according to the preset inertia characteristic parameters, environmental data and actuator response characteristics. For example, a mathematical model or lookup table can be established that can reflect the complex correlation between the preset inertia characteristic parameters, environmental data and actuator response characteristics. This mapping relationship can be trained and optimized based on a large amount of historical data, simulation results or expert experience, aiming to convert these input parameters into reasonable adjustment suggestions for the upper limit of the change rate of the sling tension and the upper limit of the change rate of the speed of the crane hoist mechanism. For example, the multi-dimensional mapping relationship can be a polynomial function, a neural network model, a fuzzy logic system or a rule-based expert system, which aims to provide the optimal adjustment strategy according to the inherent characteristics of the component, external environmental disturbance and actual performance of the actuator under different working conditions.

[0165] Then, according to the feedforward adjustment information and the multi-dimensional mapping relationship, a second adjustment amount is determined, and the upper limit of the change rate of the tension and the upper limit of the change rate of the speed are adjusted according to the second adjustment amount. The second adjustment amount includes the adjustment amount of the upper limit of the change rate of the tension and the adjustment amount of the upper limit of the change rate of the speed, which act together to ensure the stability and safety of the component attitude. The adjustment amount directly indicates how the upper limit of the change rate of the sling tension and the upper limit of the change rate of the speed of the crane hoist mechanism should be increased or decreased to achieve accurate correction of the component attitude.

[0166] Through the above technical solutions, the embodiment can significantly improve the accuracy and robustness of the attitude correction of the component to be hoisted in power engineering construction. Specifically, the introduction of the multi-dimensional mapping relationship enables the system to comprehensively consider the inherent characteristics of the component, complex environmental disturbance and dynamic response of the actuator when adjusting the upper limit of the change rate of the sling tension and the upper limit of the change rate of the speed of the crane hoist mechanism, thereby avoiding the deviation that may be caused by single parameter or simple rule adjustment. As a result, in the face of high dynamic disturbance state, the embodiment can provide more fine and adaptive control strategy, effectively reducing the risk of attitude instability of the component during hoisting or collision with the surrounding environment, improving the safety and efficiency of construction.

[0167] The beneficial effects of implementing the embodiments of the present application include that the embodiments of the present application first perform initial micro-tilt measurement on the to-be-lifted component to obtain a micro-tilt mechanical data set, then calculate the actual center-of-gravity position of the to-be-lifted component according to a plurality of micro-tilt mechanical data sets, judge the deviation source of the actual center-of-gravity position, update the actual center-of-gravity position, compare the actual center-of-gravity position with the theoretical center-of-gravity position to determine the center-of-gravity deviation, and finally correct the attitude of the to-be-lifted component according to the center-of-gravity deviation, so that the component attitude can be corrected in combination with the actual center-of-gravity position and the theoretical center-of-gravity position to realize power engineering construction simulation, thereby improving the accuracy and reliability.

[0168] As shown in Figure 2 The embodiments of the present application also provide a power engineering construction simulation system, which comprises:

[0169] The micro-tilt measurement module 501 is used for performing initial micro-tilt measurement on the to-be-lifted component to obtain a micro-tilt mechanical data set.

[0170] The center-of-gravity position calculation module 502 is used for calculating the actual center-of-gravity position of the to-be-lifted component according to a plurality of micro-tilt mechanical data sets.

[0171] The deviation source judgment module 503 is used for judging the deviation source of the actual center-of-gravity position and updating the actual center-of-gravity position.

[0172] The center-of-gravity deviation determination module 504 is used for comparing the actual center-of-gravity position with the theoretical center-of-gravity position to determine the center-of-gravity deviation.

[0173] The attitude correction module 505 is used for correcting the attitude of the to-be-lifted component according to the center-of-gravity deviation.

[0174] The contents in the method embodiments are all applicable to the system embodiments, the system embodiments specifically realize the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0175] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

Claims

1. A power engineering construction simulation method, characterized in that, Includes the following steps: Initial micro-tilt measurements were performed on the components to be hoisted to obtain a set of micro-tilt mechanical data. Based on multiple sets of micro-tilt mechanical data, the actual center of gravity position of the component to be hoisted is calculated. Determine the source of deviation from the actual center of gravity position and update the actual center of gravity position accordingly. The actual center of gravity position is compared with the theoretical center of gravity position to determine the center of gravity deviation; The attitude of the component to be hoisted is corrected based on the center of gravity deviation. The initial micro-tilt measurement of the component to be hoisted yields a set of micro-tilt mechanical data, including: After setting up multiple support points, the first support force data of the component to be hoisted is obtained; After the external force causes the component to be hoisted to tilt in a controlled manner, the tilt angle and the second support force data of the component to be hoisted are obtained. The coordinates corresponding to the multiple support points, the first support force data, the tilt angle, and the second support force data are combined to obtain the micro-tilt mechanical data set; The step of determining the source of deviation from the actual center of gravity and updating the actual center of gravity position includes: The pressure changes and surface temperature changes at the support points of the component to be hoisted are obtained; The first multi-directional micro-tilt measurement is performed on the component to be hoisted to obtain the first center of gravity position sequence; Calculate the first deviation value between the centroid positions in the first centroid position sequence; A second multi-directional micro-tilt measurement is performed on the component to be hoisted to obtain a second center of gravity position sequence. The tilt angle of the second multi-directional micro-tilt measurement is different from that of the first multi-directional micro-tilt measurement. Calculate the second deviation value between the centroid positions in the second centroid position sequence; Based on the changes in pressure at the support points and the changes in surface temperature, the first deviation value and the second deviation value are compared to identify the source of the center of gravity position deviation. The actual center of gravity position is updated based on the source of the center of gravity position deviation.

2. The method according to claim 1, characterized in that, The step of correcting the attitude of the component to be hoisted based on the center of gravity deviation includes: Collect environmental data and the attitude data of the component to be hoisted; Based on the environmental data and the attitude data, calculate the current center of gravity position of the component to be hoisted; Based on the center of gravity deviation, the current center of gravity position, and the preset hoisting path, identify the attitude deviation; Based on the aforementioned attitude deviation, the slings and crane winch mechanisms are coordinated for control in order to correct the attitude of the component to be lifted.

3. The method according to claim 2, characterized in that, The coordinated control of the sling and crane hoisting mechanism based on the attitude deviation includes: Obtain tension data of the slings and speed data of the crane winch mechanism; Based on the aforementioned attitude deviation, calculate the expected tension adjustment of the sling and the expected speed adjustment of the crane hoisting mechanism; Based on the tension data, the speed data, the preset inertial characteristic parameters, the expected tension adjustment amount, and the expected speed adjustment amount, the impact of the adjustment actions of the sling and the crane hoisting mechanism on the attitude of the component to be hoisted is evaluated, and the collision risk assessment result is obtained. Based on the collision risk assessment results, adjust the rate of change of tension in the slings and the rate of change of speed in the crane hoisting mechanism.

4. The method according to claim 2, characterized in that, The coordinated control of the sling and crane hoisting mechanism based on the attitude deviation includes: Based on the rate of change of the attitude data and the rate of change of the environmental data, it is determined whether the component to be hoisted is in a state of high dynamic disturbance. If the component to be hoisted is in a state of high dynamic disturbance, the attitude of the component at the next moment is predicted based on the attitude data, the environmental data, and the attitude deviation. Based on the component's attitude at the next moment and the preset hoisting path, feedforward adjustment information is generated; Based on the feedforward adjustment information, preset inertial characteristic parameters, and actuator response characteristics, adjust the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism.

5. The method according to claim 3, characterized in that, The step of adjusting the rate of change of tension in the sling and the rate of change of speed in the crane hoisting mechanism based on the collision risk assessment results includes: Acquire response status data of the actuators, which include slings and crane winch mechanisms; Based on the response status data, determine whether the actuator has a response delay or malfunction; If the actuator experiences a response delay or malfunction, the first adjustment amount is updated, which includes the desired tension adjustment amount and the desired speed adjustment amount. The tension change rate and the velocity change rate are adjusted according to the updated first adjustment amount.

6. The method according to claim 4, characterized in that, The step of adjusting the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism based on the feedforward adjustment information, preset inertial characteristic parameters, and actuator response characteristics includes: Obtain the load data of the internal sensitive points of the component to be hoisted; Based on the attitude data and the load data of the internal sensitive points, calculate the current inertial characteristic parameters of the component to be hoisted; Based on the current inertial characteristic parameters and the preset inertial characteristic parameters, identify the inertial characteristic deviation; Based on the feedforward adjustment information, the actuator response characteristics, the inertial characteristic deviation, and the environmental data, the upper limit of the tension change rate and the upper limit of the velocity change rate are adjusted.

7. The method according to claim 4, characterized in that, The step of adjusting the upper limit of the tension change rate of the sling and the upper limit of the speed change rate of the crane hoisting mechanism based on the feedforward adjustment information, preset inertial characteristic parameters, and actuator response characteristics includes: A multidimensional mapping relationship is constructed based on the preset inertial characteristic parameters, the environmental data, and the actuator response characteristics; Based on the feedforward adjustment information and the multidimensional mapping relationship, a second adjustment amount is determined, which includes the adjustment amount of the upper limit of the tension change rate and the adjustment amount of the upper limit of the velocity change rate. Based on the second adjustment amount, the upper limit of the tension change rate and the upper limit of the speed change rate are adjusted.

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